EP0441983A4 - Method of controlling robot - Google Patents

Method of controlling robot

Info

Publication number
EP0441983A4
EP0441983A4 EP19900912964 EP90912964A EP0441983A4 EP 0441983 A4 EP0441983 A4 EP 0441983A4 EP 19900912964 EP19900912964 EP 19900912964 EP 90912964 A EP90912964 A EP 90912964A EP 0441983 A4 EP0441983 A4 EP 0441983A4
Authority
EP
European Patent Office
Prior art keywords
speed
robot
loop processing
distorsion
computed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19900912964
Other languages
English (en)
French (fr)
Other versions
EP0441983A1 (de
Inventor
Nobutoshi Room 308 Torii
Ryo Room 7-201 Fanuc Manshonharimomi Nihei
Tetsuaki Room 8-101 Fanuc Manshonharimomi Kato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0441983A1 publication Critical patent/EP0441983A1/de
Publication of EP0441983A4 publication Critical patent/EP0441983A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1646—Programme controls characterised by the control loop variable structure system, sliding mode control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
    • G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41112—Control parameter such as motor controlled by a torque signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41251—Servo with spring, resilient, elastic element, twist
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41367—Estimator, state observer, space state controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42352—Sliding mode controller SMC, select other gain

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)
EP19900912964 1989-09-06 1990-09-04 Method of controlling robot Withdrawn EP0441983A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP22920889A JPH0392911A (ja) 1989-09-06 1989-09-06 スライディングモード制御によるロボット制御方法
JP229208/89 1989-09-06

Publications (2)

Publication Number Publication Date
EP0441983A1 EP0441983A1 (de) 1991-08-21
EP0441983A4 true EP0441983A4 (en) 1991-08-28

Family

ID=16888512

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900912964 Withdrawn EP0441983A4 (en) 1989-09-06 1990-09-04 Method of controlling robot

Country Status (3)

Country Link
EP (1) EP0441983A4 (de)
JP (1) JPH0392911A (de)
WO (1) WO1991003780A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07104856A (ja) * 1993-10-01 1995-04-21 Fanuc Ltd 振動制御方法
JP3628119B2 (ja) * 1996-07-24 2005-03-09 ファナック株式会社 サーボモータの制御方法
US6253120B1 (en) * 1997-04-28 2001-06-26 Seiko Seiki Kabushiki Kaisha Position and/or force controlling apparatus using sliding mode decoupling control
JP5849455B2 (ja) * 2011-06-23 2016-01-27 セイコーエプソン株式会社 ロボット
JP5946762B2 (ja) * 2012-12-27 2016-07-06 本田技研工業株式会社 動力伝達装置の制御装置
CN104589344B (zh) * 2014-11-21 2016-01-13 电子科技大学 一种抑制柔性机械臂振动的边界控制方法
JP6607097B2 (ja) * 2015-11-19 2019-11-20 オムロン株式会社 制御装置、制御方法、情報処理プログラム、および記録媒体
CN112454381B (zh) * 2020-11-18 2024-04-05 辽宁省交通高等专科学校 一种自动打磨机器人的伺服控制系统
CN112540536B (zh) * 2020-11-27 2022-04-22 南京航空航天大学 一种蠕虫管道机器人滑模优化控制器设计方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07120212B2 (ja) * 1985-05-07 1995-12-20 川崎重工業株式会社 産業用ロボットの制御装置
JPS63181011A (ja) * 1987-01-23 1988-07-26 Toshiba Corp ロボツトの制御方法
JPH07120215B2 (ja) * 1987-11-27 1995-12-20 ダイキン工業株式会社 ロボットの制御方法
JPH01195516A (ja) * 1988-01-29 1989-08-07 Nitto Seiko Co Ltd 産業用ロボットの制御方法

Also Published As

Publication number Publication date
WO1991003780A1 (en) 1991-03-21
EP0441983A1 (de) 1991-08-21
JPH0392911A (ja) 1991-04-18

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